Raspberry pi Based Self Alignment Chair
Prof. RashmiA.
Wakode1,AbhilashVinchurkar2,ShubhamAdsod3,MangeshHirode4,TusharPawar5,
ShubhamKakad6
Abstract-We are in a world which is blessed by modern technologies and smart structures that
help us in our everyday life by making us familiarized with the invention in computing systems,
computerization, artificial intelligence and so on. The world has seen an outbreak of smart systems
in the last decade. To keep a significant contribution to the modern technological use, our proposed
system enhances the growing need of smart systems. In this paper, a design of self-position
aligning chair combined with the features of self-parking independent robot has been proposed. It
diminishes both human efforts and time consumption in the process of furnishing and beautifying a
conference room. Experimental results showed that the proposed model is more economical and
affordable than the systems available till date. This work improves our lifestyles by reducing
human efforts, saving time and also by maintaining more attractive working places.
Keywords - Arduino Uno; smart raspberry Pi board, meeting room; self-position aligning chair; object
recognition; obstacle finding and escaping; image processing; automation and robotics.
INTRODUCTION
Today’s world is now highly dependent on smart systems. Smart devices and equipment have made
our lifestyles so comfortable that people all around the world are using these in their lives more
than enough. Augmented reality in education, automation in transportation, development of
artificial intelligent robots, evolution of IoT , data science and so on have noteworthy influence by
introducing ourselves with an unproblematic way of life. The self-alignment wheel chair is used to
eliminate the problem occurred in class room or auditorium getting messed up. In this system
controlling of chair is depend upon detecting of particular object stored in it’s code. The camera
fixed on wheel chair capturing the image of eye and track the position of user, motor will be move
in the required direction such as left, right and forward. Also the Ultrasonic sensor is mounted in
front of wheel chair for safety to detect stagnant or mobile barriers. It will stop the wheel chair
movements automatically. A raspberry Pi board is used to control whole system. This is cost
effective and independent wheel chair system.
LiteratureSurvey
Oneof the major problem of lining up of chairs afterofficegatherings is now have a solution
provided byanotableAutomakers. The Japanese firm has inventedself-fueledofficechairs
which are able to arrange themselvesovertheirstoppingpositionwiththe sound sensor. This
Japanese organization utilized four movementcamerastowardtheedgesofaroofand
utilizedthemtotrackgeneralofficechairson their wheels. This
innovationisotherwisecalledpicturehandling.TheWi-Fi
orderedcamerasfindeachchair'sareaanditgetsbacktoitsbeginningstage.Theroomstructureispr
e-modifiedintotheframework,withsingularseatsallocated
theirownpositionatthetable.Theseatshavebeentailored
toreacttothesoundsensororthedirectionsofahumanapplaud, with each seat consequently
backtracks to its original position.Wewerereallytakingaglanceatofficeseatsasa theme and
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seek there is a need after this in some organization,intheirmeetingroom."Nissan'sdefinitive
objectiveisself-aligning,andtheself-stoppingchair. Instead of considering
themjustfurniture,wecan trust them as a me a n s by which our improvement can be brought into
the consideration of differentarticles". Few of uswishedtoseeitin
ourownplaceslikeexaminationroom,diningtable what is called as an "Intelligent ParkingChair."
It is possible to have a turn of 360 degrees with theIntelligentParkingChair
andfindsanobjectspositionwiththehelp offourcameras,that"producea best view to remotely
transmit the seat's position and its passagetogoal.Itiscenteredaroundfinishingjusta
singletaskby coordination ofsensorsand motors controlled by microcontroller
programming/coding. There are three sorts of stopping designs:parallel,front/back-
inreverse,andwithan angle of 45 degrees.Making
ourventuresWirelessreliablymakesittolooksimple and furthermore widens the range in
which it can be controlled.Starting fromusinganordinaryinfraredLEDfor
smallseparationremotecontroltillanESP8266foroverall HTTP control, there are number of
approaches to control somethingdistantly.Inthiswe can calculate howwe can assemble
remote activities using a 433 MHz RF module.Thesemodulesare effectively accessible.
They can be used independently as a TransmitterandReceiverorbecombinedwith
aMicrocontroller.HerewewilltakeintherudimentsofRF module and how to use it as an
independent RF Transmitter and Receiver. Here we have explained the RF
TransmitterandReceiverCircuitbycontrollingtheLEDs remotely utilizing RF. 8051
Microcontroller is a programmable device which is used for controlling. 89c51 is 8-bit
microcontroller suggeststhatitcando8-bitoperation.Ithas4input/outputportswhichare
utilizedasinformationasperyourneed.The microcontroller 89c51 have peripherals like
Timer, Serial Port interface and Interrupt controlling can be utilizedasperyourneed. One of
the Purpose of shared parking garage management integrate checking the quantity of stopped
vehicles, and distinguishing the accessible area. The work presented in this paper
proposesanotherframeworkforgivingstoppingstatisticsanddirection utilizing picture
preparing.The proposed frameworkincorporatescheckingthequantityofstopped vehicles,
and recognizing the slows down accessible. The paper
workrecognizesvehiclesthroughpicturesasopposedto
employingelectronicsensorsfixedonthefloor. Acamera
isintroducedforthepurposeoftheparkinggarage.It will click pictures. Using picture of a
vehicles as reference picture, the caught pictures are consecutively
coordinatedusingpicturecoordination. Theedge detection can be done using Prewitt edge
identification.
ExistingSystem Microcontroller Based Autonomous Chair :
In order to park the chair itself, press the switch which is fitted at the particular place or at
the side of the existing door, this switch working on the principle of radio frequency modules
which uses 433MHz of frequency for sending parking command signal to the main or
controller system. At the controller side the RF receiver circuit is connected to decode this
command signal and starts the programming implementation. first activating the ultrasonic
sensor. The chair will move forward and detects any obstacle if it is wall. After its found both
motors will rotate in opposite direction and change the direction of chair. IR sensors use to
detect the wall and it maintain the distance between wall and system. Magnet is fitted at
below of the table, if magnet is found by the miniature magnetic sensor which is fitted at the
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system, then it will stops the system. LCD is connected to the controller for monitoring the
distance at every time.
RFID Based Autonomous Chair
The "Intelligent Chair parking" is a exclusive chair that automatically moves to a desired
position. The chair is having a wheel so that it can move automatically 360 degrees
position. Four cameras installed on the room's ceiling produce a bird's-eye view to
wirelessly transmit the chair's position and its route to destination. With this innovation in
office technology, Japanese businessmen are now free from the wearisome task of
managing chairs. The most common image of disability is of the handicap people who use
the wheelchair. Wheelchairs are used by people who find themselves unfitted to move
without external assistance. The physically challenged person or individual have “Special
Needs” and often require some help to perform their daily routine. The physically
challenged people, who use a normal wheelchair, usually require an external person to
move around. The requirement of an automated home navigation system, which consists
of a wheelchair, can be used by the elderly and the physically challenged people without
the help of an external person display, transducers etc. In this way, as an alternative to
personnel275 controlled traditional parking operations, an unmanned, atomized chair
control and identification system has been developed. Thus RFID based automatic parking
seat is self-sufficient. The employment of RFID technology is innovative and might
improves the existing automation system. RFID is one of the most basic technologies that
enable wireless data transmission.
ARDUINO Based Autonomous Chair:
The embedded system of the smart parking chair has been classified into input segment
and output segment as in Fig.1. The input module consists of the localization device, the
obstacle recognition sensors, and the user input device. Both these modules or segments
are interfaced using an embedded microcontroller that serves as the fundamental
command module, and delivers information regarding the current location. Localization is
performed using a anisotropic magneto-resistive sensor system [4], and obstacle
prevention navigation is performed using ultrasonic range finders [7]. Rest of the
G
- Fig 1 : RFID Based Autonomous Chair
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hardware is enclosed inside the circular frame stuck to the bottom of the chair. Once the
target coordinates are feed to the system through the clap sensor, the microcontroller will
initiate its routine. At the similar time, the magnetometer communicates with the
microcontroller to read primary and closing co-ordinates . When it governs that the robot
is present at a point of interest, it will send suitable signal to the microcontroller.
Consequently, microcontroller will start the motor to move the chair in predetermined
direction . The ultrasonic sensor integrated to the input ports of the Arduino Uno AT
mega328 microcontroller, which constantly sends appropriate signals when an obstacle is
recognized. These signals are then examined to identify the location of an obstacle, and in
accordance with this the obstacle avoidance routine initialize.
Fig 2. Arduino Based Autonomous Chair
ProposedSystem
Thepaperisfocusedonaccomplishingasingletask i.e. automatic parking of
chairsbycombinationofsensorsandactuatorscontrolled by microcontroller and tactic
planning/coding, therefore the vehicle platform is not built from the parts but from
modifyingaRCtoycarinsteadforsavingthetime.Thereare generally three kinds of parking
patterns: parallel, forth/back-inperpendicular,and rotating withanangle(usually45 degrees),
and this project is just focused on the parallel
parking.Themodifiedtoycarisexpectedtodothefollowing
tasksinacompleteautomaticparkingprocess:
1. Oncethelengthofaparkingspacelargerthanthe length of the chair plus a buffering
distance is detected,thechairwillstopautomatically.
2. Perform a smooth and efficient parking behavior
accordingtotherelativepositionsofthecarandthe parkingspace.
The automatic chair parking system has the following major components:
-Raspberry Pi
-Arduino nano
-Ultrasonic Sensor
-USB Camera
-Relay
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-12v DC Motor
-Battery
-L293D Motor Driver IC
METHODOLOGY
System Block Diagram
The purpose of this self-alignment wheelchair is to eliminate the
problems occurred in classroom or auditorium getting messed up. In this system
controlling of chair is depend detection of particular object stored in its code. Camera
is mounted on wheelchair, for capture the image of eye and tracks the position object
position of user, motor will be move in required direction such as left, right and
forward. Ultrasonic sensor is mounted in front of wheelchair for safety to detect static
or mobile barriers and stop the wheelchair movement automatically. A raspberry pi
board is used to control whole system. Index Terms Central switch, Image processing,
open computer vision image library, Python, Raspberry pi, Wheelchair.
Fig 3 System Block Diagram
Raspberry pi board is soul of the system, which control the complete system operation.
Camera is directly connected with raspberry pi board and continuously captures the
images, distance between object / image and camera device is fixed. It may be 5 to 10
meters.
Raspberry pi
Motor 1
L293D
Module
Motor 2
Ultrasonic
sensor
Camera
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Image processing based data signal sent to the raspberry pi, raspberry pi received the data
and analyze it and send the control signal to motor driving circuit, based on the location
of object or image.
This will decide that motor run either in clockwise or anticlockwise direction or stop.
Two individual motors are fixed on each wheel.
Working :
A system consists of different parts first input capturing part second Processing Unit, 3rd
Driving part Hindi system when and we are using chair in a conference room it goes study
but when you left the chair system start processing and find its path find its input logo
CMOS camera used to you capture image from input window and for Processing Unit by
using Raspberry Pi 3 when in input window a particular logo which is already predefined
in a programming is detected by Raspberry pi system works Starts and end make origin
and greed in in window Windows 4 part x axis- x y - y If logo comes in a window of of
aphid from the origin then system rotates motor in a forward direction if from the origin
system rotates motor in a right side direction Simile for the left and for the bottom now if
during motion of chair if any obstacle comes then system stops until object do not
removed and When obstacle remove in front of chair system again got triggered from the
sensor which is Ultrasonic sensor and start working towards logo.
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Fig.4 Circuit Diagram Of Object Detection Using Ultrasonic Sensor
Arduino Nano :
The Arduino Nano is a small, complete, and breadboard-friendly board based on the
ATmega328 (Arduino Nano 3.x) or ATmega168 (Arduino Nano 2.x). It has more or
less the same functionality of the Arduino Duemilanove, but in a different package.
It lacks only a DC power jack, and works with a Mini-B USB cable instead of a
standard one. The Arduino Nano can be powered via the Mini-B USB connection, 6-
20V unregulated external power supply (pin 30), or 5V regulated external power
supply (pin 27). The power source is automatically selected to the highest voltage
source.
Technical Specification :
Microcontroller: Atmel ATmega168 or ATmega328
Operating Voltage(logic level): 5 V
Input Voltage(recommended): 7-12 V
Input Voltage(limits): 6-20 V
Digital I/O Pins: 14 (of which 6 provide PWM output)
Analog Input Pins: 8
DC Current per I/O Pin: 40 mA
Flash Memory: 16 KB (ATmega168) or 32 KB (ATmega328) of which 2 KB used by boot loader
SRAM: 1 KB (ATmega168) or 2 KB (ATmega328)
EEPROM: 512 bytes (ATmega168) or 1 KB (ATmega328)
Clock Speed: 16 MHz
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Role of Arduino Nano in Self Alignment Chair:
The role of Arduino Nano in Self Alignment Chair is to recognize an object in front of
the chair through Ultrasonic sensor. When some object is arrived in front of the chair
then ultrasonic sensor receives the signal from transmitter and send the signal to
Arduino. We use Arduino to store the separate Code ( program) of Ultrasonic sensor
Activity.
Fig 5: Arduino Nano Board
L293D motor driver:
Fig.3 shows L293D motor driver. L293D is a double H- connect engine driver coordinated circuit (IC).
Engine driversgoaboutasmomentumintensifierssincetheytakea low-flow control flag and give a higher-ebb
and flow flag. This higher current flag is utilized to drive the engines. L293DcontainstwoinbuiltH-
connectdrivercircuits.Inits basicmethodoftask,twoDCenginescanbedrivenatthe
sametime,bothinforwardandinvertheading.Theengine activitiesoftwoenginescanbecontrolledbyinputrationale
at pins 2 and 7 and 10 and 15. Info rationale 00 or 11 will
stopthecomparingengine.Rationale01and10willturnit in clockwise and anticlockwise bearings, individually.
Empowerpins1and9(comparingtothetwoengines)must behighforenginestobeginworking.Atthepointwhenan
empowerinputishigh,therelateddrivergetsempowered. Thus, the yields wind up dynamic and work in stage
with theirsourcesofinfo.Thus,whentheempowerinputislow,
thatdriverisincapacitated,andtheiryieldsareoffandinthe high-impedancestate.
Fig.6 shows L293D motor driver
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Ultrasonic sensor:
Fig 7 Ultrasonic sensor module
Ultrasonic ranging module HC - SR04 provides 2cm - 700cm non-contact measurement
function, the ranging accuracy can reach to 3mm.Ensured stable signal within 5m, gradually
faded signal outside 5m till disappearing at 7m position.
The modules includes ultrasonic transmitters, receiver and control circuit. The basic principle
of work.
Fig8 Image Ultrasonic Sensor Module
(1) Using IO trigger for at least 10us high level signal;
(2) The Module automatically sends eight 40 kHz and detect whether there is a pulse
signal back.
(3) IF the signal back, through high level , time of high output IO duration is the time
from sending ultrasonic to returning. Test distance = (high level time × velocity of sound
(340M/S) / 2.
TRIG: Trigger Pulse Input
ECHO: Echo Pulse Output
GND: Ground
VCC: 5V Supply
Detecting a proper Image For parking space :
When we start our system, Raspberry Pi is On, in which camera is connected to USB port
which detects the particular symbol or image. When we left the chair system start processing
and find it’s path from it’s input logo, CMOS camera is used to capture image from input
window and from processing unit by Raspberry Pi 3.
When in input window a particular logo which is already predefined in programming is
detected by raspberry pi, system starts working.
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Flowchart :
Start
Apply logo searching algorithm
logo Detected
Calculate the distance of logo
from the robot
Logo distance >20
Logo face the robot?
Move forward
Logo offset left
Apply moving left algorithm
Ye
s
No
Yes
Ye
s
Ye
s
No
No
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Result:
The concept of auto alignment of chair can be used to reduce the human effort. It is a self
parking of chair and because of this there is no human obstruction. With the help of this
the chairs can be arranged automatically in their respective places just by giving the
interrupt to the chair.
1. When camera capture the picture of symbol and detect the symbol Size, Shape and
color but not at center, Then chair detect only right portion of logo or symbol that
time chair move to left side for capture the whole picture of logo or symbol.
2. When camera capture the picture of symbol and detect the symbol Size, Shape and
color but not at centre, Then chair detect only left portion of symbol or logo that
time chair move to right side to capture the whole picture of logo or symbol.
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3.When camera capture the picture of symbol and detect the symbol Size, Shape and
color, and capture the whole picture of logo or Symbol then chair move to only
forward direction.
Conclusion
Using this system, we can reduce the human effort. It is a self-parking system
because of this there is no manual operation required. Due to this we can easily arrange
the chairs in their respective places just by giving the interrupt to the chair. The concept
of utilizing Anisotropic magneto resistive for indoor localization has been shown to be
both technically and economically feasible. The magneto resistive positioning robot
was successfully designed to provide autonomous navigation for indoor applications. In
the near future, we plan to improve the localization and navigation algorithm to
improve accuracy. Further analysis will be performed to accurately identify a specified
location by placing advanced magnetic field detecting sensors at different orientations.
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Future Scope:
i. In corporate companies like board room after
completionofmeetingtheemployeesmovesaway without arranging the chairs thus,
this system automatically arrange the shuffled chairs totheir respectiveposition.
It may used in schools and colleges like in the practical labs the students moves
awaywithout arrangingtheshuffledchairshence,bygivingthe
interrupttothesystemitarrangethechairsintheir originaldestination.
ii. In conference halls the people goes away after completion of conference without
arranging the displacedchairs.Thissystemhelpsinarrangingthe
displacedchairsintheirlocatedpositio
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